基于输入时延的线性连续时不变系统量化分析与控制

Quantized analysis and control of continuous linear time invariant system based on input delay

针对网络控制系统中同时存在的网络诱导时延和量化误差问题,对系统的建模、稳定性分析、控制器设计等3个方面进行了研究。基于数量化反馈控制器和零阶保持器的工作机制,利用了扇形界方法,将系统建模为带有输入时延的时滞系统。其中,在网络控制系统的传感器到控制器通道(S-C)和控制器到执行器通道(C-A)分别加入了对数量化器,用来量化系统的状态信号和控制输入信号。运用Lyapunov理论提出了一种Lyapunov-Krasovskii泛函方法,并得到了相应的稳定性判据,该判据是以两个线性矩阵不等式(LMIs)来表示的。基于该稳定性判据,设计了量化状态反馈控制器使得闭环系统渐近稳定。研究结果表明:两个量化器的量化密度直接影响系统的控制性能。

Aiming at the stabilization of networked control systems（NCSs） subject to both network-induced delays and data quantization error,the three aspects of system modeling,stability analysis and controller design were studied respectively.Based on logarithmic quantized feedback controller and the working mechanism of zero-order hold（ZOH）,utilizing sector bound approach,the NCSs was modeled as a timedelay system with input delay.Among them,both sensor-to-controller（S-C） channel and controller-to-actuator（C-A） channel of NCSs was separately jointed the logarithmic quantizer,to quantify system state signal and control input signal respectively.By utilizing the Lyapunov stability theory to propose a kind of Lyapunov-Krasoskii function,then the corresponding stability condition was obtained,this condition was described by two sets of linear matrix inequalities（LMIs）.Based on this stability condition,the corresponding quantized feedback controller was designed to guarantee the closed-loop systems stochastic stable.The results indicate that the density of two quantizers directly affect the control performance of the system.